This class implements a state validity checker in task space. More...

#include <ompl_ros_task_space_validity_checker.h>

Inheritance diagram for ompl_ros_interface::OmplRosTaskSpaceValidityChecker:

Public Member Functions
virtual void	configureOnRequest (planning_models::KinematicState kinematic_state, planning_models::KinematicState::JointStateGroup joint_state_group, const arm_navigation_msgs::GetMotionPlan::Request &request)
	Configure the transformer when a request is received. This is typically a one time configuration for each planning request.
boost::shared_ptr < ompl_ros_interface::OmplRosStateTransformer > &	getStateTransformer ()
	Return a shared pointer to the state transformer used by this validity checker.
virtual bool	isStateValid (const ompl::base::State *ompl_state)
virtual bool	isValid (const ompl::base::State *ompl_state) const
	The callback function used by the planners to determine if a state is valid.
	OmplRosTaskSpaceValidityChecker (ompl::base::SpaceInformation si, planning_environment::CollisionModelsInterface cmi, const std::string &parent_frame)
	Default constructor.
bool	setStateTransformer (boost::shared_ptr< ompl_ros_interface::OmplRosStateTransformer > &state_transformer)
	Instantiate the state transformer.
	~OmplRosTaskSpaceValidityChecker ()
Protected Member Functions
virtual bool	initialize ()
Protected Attributes
std::string	parent_frame_
arm_navigation_msgs::RobotState	robot_state_msg_
ompl_ros_interface::RobotStateToKinematicStateMapping	robot_state_to_joint_state_group_mapping_
boost::shared_ptr < ompl_ros_interface::OmplRosStateTransformer >	state_transformer_

Detailed Description

This class implements a state validity checker in task space.

Definition at line 49 of file ompl_ros_task_space_validity_checker.h.

Constructor & Destructor Documentation

ompl_ros_interface::OmplRosTaskSpaceValidityChecker::OmplRosTaskSpaceValidityChecker	(	ompl::base::SpaceInformation *	si,
		planning_environment::CollisionModelsInterface *	cmi,
		const std::string &	parent_frame
	)		`[inline]`

Default constructor.

Parameters:

si	- The space information for this validity checker
planning_monitor	- The planning monitor
mapping	- The mapping between the ompl state and the kinematic state that the planning monitor will use

Definition at line 58 of file ompl_ros_task_space_validity_checker.h.

ompl_ros_interface::OmplRosTaskSpaceValidityChecker::~OmplRosTaskSpaceValidityChecker ( ) [inline]

Definition at line 64 of file ompl_ros_task_space_validity_checker.h.

Member Function Documentation

void ompl_ros_interface::OmplRosTaskSpaceValidityChecker::configureOnRequest	(	planning_models::KinematicState *	kinematic_state,
		planning_models::KinematicState::JointStateGroup *	joint_state_group,
		const arm_navigation_msgs::GetMotionPlan::Request &	request
	)		`[virtual]`

Configure the transformer when a request is received. This is typically a one time configuration for each planning request.

Parameters:

kinematic_state	- The kinematic state corresponding to the current state of the robot
joint_state_group	- The state of the joint group on which this validity checker will operate
request	- The motion planning request

Reimplemented from ompl_ros_interface::OmplRosStateValidityChecker.

Definition at line 137 of file ompl_ros_task_space_validity_checker.cpp.

boost::shared_ptr<ompl_ros_interface::OmplRosStateTransformer>& ompl_ros_interface::OmplRosTaskSpaceValidityChecker::getStateTransformer ( ) [inline]

Return a shared pointer to the state transformer used by this validity checker.

Returns:: A shared pointer to the state transformer

Definition at line 89 of file ompl_ros_task_space_validity_checker.h.

bool ompl_ros_interface::OmplRosTaskSpaceValidityChecker::initialize ( ) [protected, virtual]

Definition at line 116 of file ompl_ros_task_space_validity_checker.cpp.

bool ompl_ros_interface::OmplRosTaskSpaceValidityChecker::isStateValid ( const ompl::base::State * ompl_state ) [virtual]

Implements ompl_ros_interface::OmplRosStateValidityChecker.

Definition at line 75 of file ompl_ros_task_space_validity_checker.cpp.

bool ompl_ros_interface::OmplRosTaskSpaceValidityChecker::isValid ( const ompl::base::State * ompl_state ) const [virtual]

The callback function used by the planners to determine if a state is valid.

Parameters:

ompl_state The state that needs to be checked

Implements ompl_ros_interface::OmplRosStateValidityChecker.

Definition at line 42 of file ompl_ros_task_space_validity_checker.cpp.

bool ompl_ros_interface::OmplRosTaskSpaceValidityChecker::setStateTransformer ( boost::shared_ptr< ompl_ros_interface::OmplRosStateTransformer > & state_transformer )

Instantiate the state transformer.

Parameters:

ompl_state An instance of the state transformer passed in for initialization